CN116985804A - Rear vehicle distance early warning method, system and vehicle - Google Patents

Abstract

The application discloses a rear vehicle distance early warning method, a rear vehicle distance early warning system and a vehicle, wherein the method comprises the following steps: acquiring the running speed of the vehicle, and if the running speed meets a preset condition, acquiring a first distance between the vehicle and a rear vehicle; if the first distance is smaller than the preset dangerous distance range, playing an early warning signal of a first degree; if the first distance is larger than or equal to a preset dangerous distance range and smaller than a preset early warning distance range, acquiring a second distance between the vehicle and a rear vehicle after preset time; and calculating the relative speed of the rear vehicle relative to the vehicle according to the first distance, the second distance and the preset time, and if the relative speed is greater than or equal to 0, playing the early warning signal of the second degree, otherwise, playing the early warning signal of the third degree. According to the application, the reversing camera is utilized to finish detection of the distance between the vehicle and the rear vehicle on the premise of not increasing the number of parts of the vehicle, and early warning reminding of different degrees is carried out according to the distance.

Description

Rear vehicle distance early warning method, system and vehicle

Technical Field

The application relates to the technical field of auxiliary driving, in particular to a rear vehicle distance early warning method, a rear vehicle distance early warning system, a vehicle and a computer readable storage medium.

Background

Along with the popularization of automobiles, vehicles on roads are more and more, and accordingly, traffic accidents are more and more, wherein important safety accidents brought by high-speed running occupy higher space, the main reason is that the speed is too high and the safety distance is not kept, the mainstream concept of the public at present is to keep the safety distance from a front vehicle, but neglect the safety distance between a rear vehicle and the public, and hidden danger is brought to the safety of the public and the public.

In the prior art, the safety distance is kept mainly for preventing rear-end collision with a front vehicle, whether the distance between a rear vehicle and the vehicle belongs to the safety distance is ignored, and although the measurement of the rear vehicle distance is paid attention to at present, the common measurement mode of the rear vehicle distance is to realize the measurement of the distance by a radio distance measuring method such as a radar, so that the cost is high, and the control device of the radar can directly control the accelerator of the vehicle to directly participate in the driving of the vehicle, so that the risk is high.

Accordingly, the prior art is still in need of improvement and development.

Disclosure of Invention

The application mainly aims to provide a rear vehicle distance early warning method, a rear vehicle distance early warning system, a vehicle and a computer readable storage medium, and aims to solve the problems that in the prior art, the rear vehicle distance measurement accuracy is low, the early warning of the rear vehicle distance is lacking, and risks are easily brought to human bodies and vehicles.

An embodiment of a first aspect of the present application provides a rear vehicle distance early warning method, including the following steps: acquiring the running speed of the vehicle, and if the running speed meets a preset condition, acquiring a first distance between the vehicle and a rear vehicle; if the first distance is smaller than the preset dangerous distance range, playing an early warning signal of a first degree; if the first distance is larger than or equal to the preset dangerous distance range and smaller than the preset early warning distance range, acquiring a second distance between the vehicle and a rear vehicle after preset time; and calculating the relative speed of the rear vehicle relative to the vehicle according to the first distance, the second distance and the preset time, if the relative speed is greater than or equal to 0, playing a second-degree early warning signal, and if the relative speed is less than 0, playing a third-degree early warning signal.

According to the technical means, the embodiment of the application can acquire the distance between the rear vehicle and the vehicle by using the reversing camera when the preset condition is met, calculate the relative speed of the rear vehicle according to the distance, judge the acceleration condition of the rear vehicle according to the relative speed, finish the accurate detection of the vehicle distance of the rear vehicle on the premise of not increasing the number of the vehicle parts, play early warning signals with different degrees according to various conditions of the rear vehicle through a design algorithm and different judging ranges, remind a user in real time about the current safety condition, and ensure the safety of an automatic driving process.

Optionally, in one embodiment of the present application, the preset condition is:and is also provided withWherein V is ₀ V is the running speed of the host vehicle _G To start the lowest speed of the early warning function, V _c Is a preset hysteresis speed.

According to the technical means, the embodiment of the application provides a novel judging mode for determining whether to open the early warning function, namely, by setting the lowest speed for opening the early warning function and setting a hysteresis speed, a hysteresis interval is added on the lowest speed for opening the early warning function, so that the early warning system is prevented from being frequently switched between working and not working when the vehicle runs near the early warning initial speed, and the driving feeling of a driver is further influenced.

Optionally, in one embodiment of the present application, the first level of early warning signal, the second level of early warning signal and the third level of early warning signal are used to prompt a user that there is a collision risk behind; the early warning signal of the first degree, the early warning signal of the second degree and the early warning signal of the third degree represent that the rear collision risk degree is reduced in sequence; the volume and the frequency of the early warning signal of the first degree, the early warning signal of the second degree and the early warning signal of the third degree are sequentially reduced.

According to the technical means, the early warning signals with different degrees represent collision risks with different degrees, the volume and the frequency of the early warning signals can be sequentially reduced according to the early warning signals with different degrees, various different early warning information can be provided for a user according to different rear vehicle distances, the set early warning signals have obvious identification characteristics, and three early warning scenes are distinguished according to the frequency of the early warning signals: a higher frequency represents a more urgent, dangerous, light, medium, or jerky.

Optionally, in an embodiment of the present application, the calculating, according to the first distance, the second distance and the preset time, the relative speed of the rear vehicle with respect to the own vehicle specifically includes: inputting the first distance, the second distance and the preset time into a formulaWherein V is the relative speed of the rear vehicle relative to the host vehicle, L ₁ Is the first distance, L ₂ Is the second distance, and Δt is a preset time.

According to the technical means, the distance detection of the vehicle and the rear vehicle is performed by using the existing system in the vehicle, the relative speed of the rear vehicle relative to the vehicle is calculated by the first distance, the second distance calculation and the preset time, only a small part of CPU processing capacity is occupied, the number of automobile parts is not increased, an independent processor system is not needed, and the cost advantage is obvious.

Optionally, in an embodiment of the present application, if the relative speed is greater than or equal to 0, playing an early warning signal of a second degree, otherwise playing an early warning signal of a third degree, specifically including: if the relative speed is greater than 0, indicating that the direction of the relative speed V is positive, the rear vehicle is in an acceleration state relative to the vehicle, and playing an early warning signal of a second degree; if the relative speed is equal to 0, the distance between the rear vehicle and the vehicle is kept unchanged, and a second-degree early warning signal is played; if the relative speed is smaller than 0, the direction of the relative speed V is negative, the rear vehicle is in a deceleration state relative to the vehicle, and an early warning signal of a third degree is played.

According to the technical means, the embodiment of the application judges the speed change condition of the rear vehicle relative to the vehicle by calculating whether the relative speed is greater than 0 or not, and early warns the corresponding degree according to the change condition, if the relative speed is greater than 0, the direction of the relative speed V is positive, and the rear vehicle is in an accelerating state relative to the vehicle, otherwise, the rear vehicle is in a decelerating state relative to the vehicle, so that the logic is scientific and reasonable, the calculated amount is small, and the early warning efficiency is improved.

Optionally, in one embodiment of the present application, the preset dangerous distance range is: l (L) _w ＝L _w0 ±L _wc The preset early warning distance range is as follows: l (L) _y ＝L _y0 ±L _yc The method comprises the steps of carrying out a first treatment on the surface of the Wherein L is _w For a preset dangerous distance range L _w0 For default hazard distance, L _wc For dangerous hysteresis distance, L _y For presetting the early warning distance range L _y0 For default warning distance, L _yc The early warning delay distance; the default dangerous distance, the dangerous delay distance, the default early warning distance and the early warning delay distance are all set according to a speed interval in which the running speed of the vehicle is located.

According to the technical means, the dangerous delay distance and the early warning delay distance are respectively set for the default dangerous distance and the default early warning distance, and by adding one delay interval on the default distance, the early warning system is prevented from frequently playing early warning signals with different degrees to influence the driving experience of a driver when the rear vehicle distance is at the early warning edge, and the use experience of the driver is improved; meanwhile, the default dangerous distance, the dangerous delay distance, the default early warning distance and the early warning delay distance can be correspondingly set according to different speed intervals where the running speed of the vehicle is located, various speed scenes can be dealt with, and the universality is high.

Optionally, in an embodiment of the present application, the method for pre-warning a rear vehicle distance further includes: and acquiring a turn signal of the vehicle in real time, when the turn signal is acquired, indicating that the vehicle is in a lane change overtaking process, closing the early warning function, and opening the early warning function again after the preset closing time.

According to the technical means, the embodiment of the application can give consideration to the scenes of straight running and lane-changing overtaking, the vehicle is usually in an overtaking state when running in a lane-changing mode, the distance of the rear vehicle after lane changing is often smaller than the dangerous set distance, and early warning is redundant according to the rear vehicle distance at the moment, so that when the turn signal is acquired, the vehicle is indicated to be in the lane-changing overtaking process, the early warning function is closed at the moment, the early warning function is opened again after the preset closing time, and better driving experience can be brought to a driver.

An embodiment of a second aspect of the present application provides a rear vehicle distance warning system, including: the first distance acquisition module is used for acquiring the running speed of the vehicle, and acquiring the first distance between the vehicle and the rear vehicle if the running speed meets the preset condition; the dangerous signal playing module is used for playing an early warning signal of a first degree if the first distance is smaller than a preset dangerous distance range; the second distance acquisition module is used for acquiring a second distance between the vehicle and the rear vehicle after the preset time if the first distance is larger than or equal to a preset dangerous distance range and smaller than a preset early warning distance range; and the early warning signal playing module is used for calculating the relative speed of the rear vehicle relative to the vehicle according to the first distance, the second distance and the preset time, and playing an early warning signal of a second degree if the relative speed is greater than or equal to 0, or playing an early warning signal of a third degree if the relative speed is greater than or equal to 0.

Optionally, in one embodiment of the present application, the first distance acquisition module includes: the vehicle speed acquisition unit is used for acquiring the running speed of the vehicle; a vehicle speed judging unit for judging whether the running speed meets a preset condition; and the first distance acquisition unit is used for acquiring the first distance between the vehicle and the rear vehicle when the running speed meets the preset condition.

Optionally, in one embodiment of the present application, the dangerous signal playing module includes: the dangerous distance judging unit is used for judging whether the first distance is smaller than a preset dangerous distance range or not; and the dangerous signal playing unit is used for playing the early warning signal of the first degree when the first distance is smaller than the preset dangerous distance range.

Optionally, in one embodiment of the present application, the second distance acquisition module includes: the early warning distance judging unit is used for judging whether the first distance is larger than or equal to a preset dangerous distance range and smaller than the preset early warning distance range; and the second distance acquisition unit is used for acquiring the second distance between the vehicle and the rear vehicle after the preset time when the first distance is larger than or equal to the preset dangerous distance range and smaller than the preset early warning distance range.

Optionally, in one embodiment of the present application, the early warning signal playing module includes: the relative speed calculation unit is used for calculating the relative speed of the rear vehicle relative to the vehicle according to the first distance, the second distance and the preset time; and the early warning signal playing unit is used for judging whether the relative speed is greater than or equal to 0, if so, playing an early warning signal of a second degree, and if not, playing an early warning signal of a third degree.

An embodiment of a third aspect of the present application provides a vehicle including: the vehicle distance pre-warning system comprises a memory, a processor and a vehicle distance pre-warning program which is stored in the memory and can run on the processor, wherein the vehicle distance pre-warning program realizes the steps of the vehicle distance pre-warning method according to the embodiment when being executed by the processor.

An embodiment of a fourth aspect of the present application provides a computer-readable storage medium storing a rear-vehicle-distance warning program that, when executed by a processor, implements the steps of the rear-vehicle-distance warning method described in the above embodiment.

The application has the beneficial effects that:

(1) According to the embodiment of the application, when the preset condition is met, the distance between the rear vehicle and the vehicle can be obtained by using the reversing camera, the relative speed of the rear vehicle is calculated according to the distance, the acceleration condition of the rear vehicle is judged according to the relative speed, the accurate detection of the vehicle distance of the rear vehicle is completed on the premise of not increasing the number of vehicle parts, and the safety of the automatic driving process is ensured by playing early warning signals of different degrees according to various conditions of the rear vehicle and through a design algorithm and different judging ranges.

(2) According to the embodiment of the application, the minimum speed for starting the early warning function is set, and the hysteresis speed is set, so that when the vehicle runs near the early warning initial speed, the early warning system is prevented from frequently switching between working and non-working, and the driving feeling of a driver is further influenced.

(3) According to the embodiment of the application, the dangerous delay distance and the early warning delay distance are respectively set for the default dangerous distance and the default early warning distance, and by adding a delay interval on the default distance, the early warning system is prevented from frequently playing early warning signals with different degrees to influence the driving experience of a driver when the rear vehicle distance is at the early warning edge, and the use experience of the driver is improved; meanwhile, the default dangerous distance, the dangerous delay distance, the default early warning distance and the early warning delay distance can be correspondingly set according to different speed intervals where the running speed of the vehicle is located, various speed scenes can be dealt with, and the universality is high.

(4) The embodiment of the application can give consideration to the scenes of straight running and lane changing overtaking, the vehicle is usually in an overtaking state when running in a lane changing way, the distance of the rear vehicle after lane changing is often smaller than the dangerous set distance, and early warning is redundant according to the rear vehicle distance, so that when the turn signal is acquired, the vehicle is indicated to be in the lane changing overtaking process, the early warning function is closed at the moment, and the early warning function is opened again after the preset closing time, thereby bringing better driving experience for a driver.

(5) According to the embodiment of the application, the speed change condition of the rear vehicle relative to the vehicle is judged by calculating whether the relative speed is greater than 0, and early warning of the corresponding degree is carried out according to the change condition, if the relative speed is greater than 0, the direction of the relative speed V is positive, the rear vehicle is in an accelerating state relative to the vehicle, otherwise, the rear vehicle is in a decelerating state relative to the vehicle, the logic is scientific and reasonable, the calculated amount is small, and the early warning efficiency is improved.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for warning a rear vehicle distance according to a preferred embodiment of the present application;

FIG. 2 is a flowchart illustrating a pre-warning speed hysteresis interval in a post-vehicle distance pre-warning method according to the present application

FIG. 3 is a system frame diagram of a rear vehicle distance warning method of the present application;

FIG. 4 is a block diagram of a portion of a module of a central domain controller of the method for early warning of rear vehicle distance according to the present application;

FIG. 5 is a circuit block diagram of a reversing camera assembly of the rear vehicle distance pre-warning method of the present application;

FIG. 6 is a flow chart of the pre-warning in a preset dangerous distance range in the post-vehicle distance pre-warning method of the present application;

FIG. 7 is a circuit block diagram of a speaker assembly of the rear vehicle distance warning method of the present application;

FIG. 8 is a flow chart of the pre-warning in the pre-set pre-warning distance range in the post-vehicle distance pre-warning method of the present application;

FIG. 9 is a flowchart of the operation of the method for early warning the following distance of a vehicle when the vehicle is detected to pass through a lane change;

FIG. 10 is a schematic diagram of a rear vehicle distance warning system according to a preferred embodiment of the present application;

fig. 11 is a schematic structural view of a preferred embodiment of the vehicle of the present application.

Wherein, the 10-rear vehicle distance early warning system; 100-a first distance acquisition module, 200-a dangerous signal playing module, 300-an early warning signal playing module and 400-an early warning signal playing module; 501-memory, 502-processor and 503-communication interface.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.

The following describes a rear vehicle distance warning method, a rear vehicle distance warning system, a vehicle and a computer readable storage medium according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the problems that the measurement accuracy of the rear vehicle distance is low, the early warning of the rear vehicle distance is lacking and risks are easily brought to people and vehicles in the related art in the background art, the application provides a rear vehicle distance early warning method, in the method, when preset conditions are met, the distance between the rear vehicle and the vehicle can be acquired by using a reversing camera, the relative speed of the rear vehicle is calculated according to the distance, the acceleration condition of the rear vehicle is judged according to the relative speed, the accurate detection of the rear vehicle distance is finished on the premise of not increasing the number of automobile parts, the early warning signals of different degrees are played according to various conditions of the rear vehicle through a design algorithm and different judging ranges, the current safety condition of the user is reminded in real time, and the safety in the automatic driving process is ensured. Therefore, the technical problems that the rear vehicle distance measurement accuracy is not high, the early warning of the rear vehicle distance is lacked, and risks are easily brought to the human body and the vehicle in the related technology are solved.

Specifically, fig. 1 is a schematic flow chart of a method for early warning of a rear vehicle distance according to an embodiment of the present application.

As shown in fig. 1, the rear vehicle distance early warning method includes the following steps:

in step S101, as shown in fig. 2, a running speed of the host vehicle is obtained, and if the running speed meets a preset condition, a first distance between the host vehicle and the following vehicle is obtained.

The preset conditions are as follows:and->Wherein V is ₀ V is the running speed of the host vehicle _G For the lowest speed of the early warning system to start working, V _c Is a preset hysteresis speed.

Because the application is mainly applied to high-speed running, the parameter of the lowest speed at which the early warning system starts to work is set, and the early warning system does not work when the lowest speed is lower than the lowest speed, based on the actual situation, the application recommends setting the lowest speed to be 60km/H (only for reference and without limitation here), and simultaneously sets the lowest speed to be a hysteresis speed and recommends setting the hysteresis speed to be 5km/H, so in the embodiment, when the running speed of the vehicle is in the range ofAnd->In this interval (the lowest speed in fig. 2 is 60km/H, and the hysteresis speed is 5 km/H), the early warning system starts to work, so that the early warning system can be effectively prevented from frequently switching between working and non-working when the speed of the vehicle floats up and down at the lowest speed, and the driving feeling of a driver is further affected.

Further, as shown in fig. 3, a system frame diagram of the rear vehicle distance early warning method in the present application is introduced, where the system frame diagram includes: the device comprises a central controller, a reversing camera assembly and a loudspeaker assembly, wherein the central controller is respectively connected with the reversing camera and the loudspeaker assembly; the circuit block diagram of the central domain controller is shown in fig. 4, the central domain controller is generally arranged at a console in an automobile front row and is powered by KL30, the processing capacity is high, meanwhile, the central domain controller supplies power to a reversing camera assembly and a loudspeaker assembly through a load switch, receives image video information of the reversing camera assembly through an Ethernet interface, and sends an alarm signal to the loudspeaker assembly through an A2B bus; in this embodiment, the traveling speed of the host vehicle is acquired by the central controller.

As shown in fig. 5, the process of acquiring the first distance between the host vehicle and the rear vehicle is as follows: a graphic processing module in the reversing camera assembly acquires a distance image of a current vehicle and a rear vehicle sent by a CMOS camera module, processes the distance image according to an image processing algorithm to obtain a first distance between the vehicle and the rear vehicle, and sends the first distance to a central controller through an Ethernet interface for subsequent processing; the pixels of the CMOS camera module are above millions, so that the definition of the camera can be ensured; the image processing module can perform image signal processing such as denoising, distortion processing, lossless compression, encoding and the like on the acquired image.

In step S102, if the first distance is smaller than the preset dangerous distance range, a first-level early warning signal is played.

Specifically, as shown in fig. 6, after the distance image is processed by using an image processing algorithm to obtain a first distance between the vehicle and the rear vehicle, whether the first distance is smaller than a preset dangerous distance range is determined, if the first distance is smaller than the preset dangerous distance range, a first-degree early warning signal is played, and if the first distance is greater than or equal to the preset dangerous distance range, processing is not performed, and the first distance is continuously obtained and determined.

Further, if the first distance is greater than or equal to a preset dangerous distance range, playing an early warning signal of a first degree.

As shown in fig. 7, the process of playing the early warning signal of the first degree is: the method comprises the steps of receiving a first instruction of playing an early warning signal of a first degree, which is sent by a central controller, through an A2B interface circuit, sending the first instruction to a DAC module, converting the received first instruction into analog information by the DAC module, sending the analog information to a power amplification module for amplification, and finally sending the analog information after amplifying power to a loudspeaker for playing.

In step S103, if the first distance is greater than or equal to the preset dangerous distance range and less than the preset early warning distance range, a second distance between the vehicle and the following vehicle is obtained after the preset time.

Specifically, if the first distance is greater than or equal to a preset dangerous distance range and less than a preset early warning distance range, the distance between the rear vehicle and the vehicle is larger than or equal to the dangerous distance, but is not within the dangerous distance, and the possibility of collision sending is still higher at the moment; therefore, when the first distance is greater than or equal to the preset dangerous distance range and less than the preset early warning distance range, the second distance between the vehicle and the rear vehicle is obtained after the preset time, wherein the preset time is the time interval between the time when the first distance is obtained and the time when the second distance is obtained, and the preset time can be set according to actual conditions (such as road state, weather condition, running speed of the vehicle and the like).

It can be understood that the process of obtaining the second distance is the same as the process of obtaining the first distance, after the preset time, the image processing module in the reversing camera assembly obtains the distance image of the current vehicle and the rear vehicle sent by the CMOS camera module, processes the distance image according to an image processing algorithm to obtain the second distance between the vehicle and the rear vehicle, and sends the second distance to the central controller through the ethernet interface for subsequent processing.

In step S104, as shown in fig. 8, a relative speed of the rear vehicle with respect to the vehicle is calculated according to the first distance, the second distance and the preset time, if the relative speed is greater than or equal to 0, a second-degree early warning signal is played, and if the relative speed is less than 0, a third-degree early warning signal is played.

Specifically, the first distance, the second distance, and the preset time are input to a formulaWherein V is the relative speed of the rear vehicle relative to the host vehicle, L ₁ Is the first distance, L ₂ Is the second distance, and Δt is a preset time.

If the relative speed is greater than 0, indicating that the direction of the relative speed V is positive, the rear vehicle is in an acceleration state relative to the vehicle, and playing an early warning signal of a second degree; if the relative speed is equal to 0, the distance between the rear vehicle and the vehicle is kept unchanged, and a second-degree early warning signal is played; if the relative speed is smaller than 0, the direction of the relative speed V is negative, the rear vehicle is in a deceleration state relative to the vehicle, and an early warning signal of a third degree is played.

In the application, the relative speed of the rear vehicle relative to the vehicle is calculated through the first distance, the second distance and the preset time, the vehicle is taken as a reference frame, if the calculated relative speed is positive, the rear vehicle is accelerated to approach the vehicle, if the calculated relative speed is negative, the rear vehicle is decelerated to be far away from the vehicle, the distance detection of the vehicle and the rear vehicle is carried out by utilizing the existing system in the vehicle, the relative speed of the rear vehicle relative to the vehicle is calculated through the first distance, the second distance calculation and the preset time, the speed change condition of the rear vehicle relative to the vehicle is judged through calculating whether the relative speed is greater than 0, and the early warning of the corresponding degree is carried out according to the change condition, if the relative speed is greater than 0, the direction of the relative speed V is positive, the rear vehicle is accelerated relative to the vehicle, otherwise, the rear vehicle is decelerated relative to the vehicle, the vehicle is reasonably logical, the calculated amount is less, and the early warning efficiency is improved.

Further, the early warning signal of the first degree, the early warning signal of the second degree and the early warning signal of the third degree are used for prompting the collision risk behind the user; the early warning signal of the first degree, the early warning signal of the second degree and the early warning signal of the third degree represent that the rear collision risk degree is reduced in sequence; the volume and the frequency of the early warning signal of the first degree, the early warning signal of the second degree and the early warning signal of the third degree are sequentially reduced, the volume of the early warning signal of the first degree is the largest, the frequency is the highest, and the volume of the early warning signal of the third degree is the smallest and the frequency is the lowest.

It should be noted that the early warning signal in the present application needs to have an obvious identification characteristic and be different from the sound of the reversing radar.

From the above, it can be known that the early warning signals with different degrees represent collision risks with different degrees, the volume and the frequency of the early warning signals can be sequentially reduced according to the early warning signals with different degrees, and various different early warning information can be provided for users according to different rear vehicle distances, and the set early warning signals have obvious identification characteristics, so that three early warning scenes can be distinguished according to the frequency of the early warning signals: a higher frequency represents a more urgent, dangerous, light, medium, or jerky.

It can be appreciated that the preset hazard distance range is: l (L) _w ＝L _w0 ±L _wc The preset early warning distance range is as follows: l (L) _y ＝L _y0 ±L _yc The method comprises the steps of carrying out a first treatment on the surface of the Wherein L is _w For a preset dangerous distance range L _w0 For default hazard distance, L _wc For dangerous hysteresis distance, L _y For presetting the early warning distance range L _y0 For default warning distance, L _yc The early warning delay distance; the default dangerous distance, the dangerous delay distance, the default early warning distance and the early warning delay distance are all set according to a speed interval in which the running speed of the vehicle is located.

The pre-warning distance of the rear vehicle distance is strongly related to the vehicle running speed, and for the relation between the vehicle speed and the vehicle distance, when the running speed is above 60km/H, in this embodiment, a set of parameter data is given:

for speeds within the interval of [60, 100 ], L is set _y 、L _w The value of (2) is 70 m, 30 m, respectively L is arranged _y0 、L _wc The hysteresis interval of (2) is 20 m, 10 m;

l is set for the speed within the range of [100, ++) _y 、L _w The value of (2) is 120 m and 80 m, respectively setting L _y0 、L _wc The hysteresis interval of (2) is 30 m, 20 m;

the specific numerical value can be set by a driver according to a vehicle central control system, and the application is not limited.

According to the application, the dangerous delay distance and the early warning delay distance are respectively set for the default dangerous distance and the default early warning distance, and by adding a delay interval on the default distance, the early warning system is prevented from frequently playing early warning signals with different degrees to influence the driving experience of a driver when the rear vehicle distance is at the early warning edge, and the use experience of the driver is improved; meanwhile, the default dangerous distance, the dangerous delay distance, the default early warning distance and the early warning delay distance can be correspondingly set according to different speed intervals where the running speed of the vehicle is located, various speed scenes can be dealt with, and the universality is high.

Further, as shown in fig. 9, in this embodiment, when the host vehicle is no longer traveling straight (i.e., when the host vehicle is ready to turn to overtake), the turn signal of the host vehicle is acquired in real time, and when the turn signal is acquired, the host vehicle is indicated to be in the lane-changing overtaking process, the early warning function is turned off, and the early warning function is turned on again after the preset turn-off time.

That is, when the host vehicle no longer keeps straight running and prepares for turning to change the lane, the host vehicle is usually in an overtaking state at this moment, the distance of the rear vehicle after the lane change is often smaller than the dangerous set distance, but because the host vehicle is in a continuous accelerating state, the situation that the rear vehicle sends a collision rear-end collision can be ignored, so when the turn signal is acquired, the early warning function is closed, and the early warning function is opened again after the preset closing time; the preset closing time is set by a driver, and preferably, the preset closing time can be set to be the time required by the vehicle when the vehicle normally overtakes during lane changing.

Next, a rear vehicle distance early warning system according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 10 is a block diagram of a rear vehicle distance warning system according to an embodiment of the present application.

As shown in fig. 10, the rear vehicle distance warning system 10 includes: the system comprises a first distance acquisition module 100, a danger signal playing module 200, a second distance acquisition module 300 and an early warning signal playing module 400.

Specifically, the first distance obtaining module 100 is configured to obtain a running speed of the host vehicle, and if the running speed meets a preset condition, obtain a first distance between the host vehicle and the rear vehicle;

the dangerous signal playing module 200 is configured to play an early warning signal of a first degree if the first distance is smaller than a preset dangerous distance range;

the second distance obtaining module 300 is configured to obtain a second distance between the host vehicle and the following vehicle after a preset time if the first distance is greater than or equal to a preset dangerous distance range and less than a preset early warning distance range;

and the early warning signal playing module 400 is configured to calculate a relative speed of the rear vehicle with respect to the vehicle according to the first distance, the second distance and the preset time, and play the early warning signal of the second degree if the relative speed is greater than or equal to 0, or play the early warning signal of the third degree if the relative speed is not greater than or equal to 0.

Optionally, in one embodiment of the present application, the first distance acquisition module includes 100: the vehicle speed acquisition unit, the vehicle speed judgment unit and the first distance acquisition unit.

The vehicle speed acquisition unit is used for acquiring the running speed of the vehicle.

And the vehicle speed judging unit is used for judging whether the running speed meets the preset condition.

And the first distance acquisition unit is used for acquiring the first distance between the vehicle and the rear vehicle when the running speed meets the preset condition.

Optionally, in one embodiment of the present application, the hazard signal playing module 200 includes: and the dangerous distance judging unit and the dangerous signal playing unit.

The dangerous distance judging unit is used for judging whether the first distance is smaller than a preset dangerous distance range.

And the dangerous signal playing unit is used for playing the early warning signal of the first degree when the first distance is smaller than the preset dangerous distance range.

Optionally, in one embodiment of the present application, the second distance acquisition module 300 includes: an early warning distance judging unit and a second distance acquiring unit.

The early warning distance judging unit is used for judging whether the first distance is larger than or equal to a preset dangerous distance range and smaller than the preset early warning distance range.

And the second distance acquisition unit is used for acquiring the second distance between the vehicle and the rear vehicle after the preset time when the first distance is larger than or equal to the preset dangerous distance range and smaller than the preset early warning distance range.

Optionally, in one embodiment of the present application, the early warning signal playing module 400 includes: the relative speed calculating unit and the early warning signal playing unit.

The relative speed calculation unit is used for calculating the relative speed of the rear vehicle relative to the vehicle according to the first distance, the second distance and the preset time.

And the early warning signal playing unit is used for judging whether the relative speed is greater than or equal to 0, if so, playing an early warning signal of a second degree, and if not, playing an early warning signal of a third degree.

It should be noted that the foregoing explanation of the embodiment of the rear vehicle distance early warning method is also applicable to the rear vehicle distance early warning system of this embodiment, and will not be repeated here.

According to the rear vehicle distance early warning system provided by the embodiment of the application, when the preset condition is met, the distance between the rear vehicle and the vehicle can be obtained by using the reversing camera, the relative speed of the rear vehicle is calculated according to the distance, the acceleration condition of the rear vehicle is judged according to the relative speed, the accurate detection of the rear vehicle distance is finished on the premise of not increasing the number of vehicle parts, and through a design algorithm and different judging ranges, the current safety condition of a user is reminded in real time according to the early warning signals of different degrees under various conditions of the rear vehicle, and the safety of an automatic driving process is ensured.

Therefore, the technical problems that the rear vehicle distance measurement accuracy is not high, the early warning of the rear vehicle distance is lacked, and risks are easily brought to the human body and the vehicle in the related technology are solved.

Fig. 11 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.

The processor 502 implements the rear vehicle distance warning method provided in the above embodiment when executing the program.

Further, the vehicle further includes:

a communication interface 503 for communication between the memory 501 and the processor 502.

Memory 501 for storing a computer program executable on processor 502.

The memory 501 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, a Peripheral Component Interconnect (PCI) bus, an extended industry standard architecture (Extended Industry StandardArchitecture, abbreviated EIS) bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in FIG. 11, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.

The processor 502 may be a central processing unit (Central Processing Unit, abbreviated as CPU) or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) or one or more integrated circuits configured to implement embodiments of the present application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the following vehicle distance warning method as above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

It is to be understood that the application is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

Claims (10)

1. The rear vehicle distance early warning method is characterized by comprising the following steps of:

acquiring the running speed of the vehicle, and if the running speed meets a preset condition, acquiring a first distance between the vehicle and a rear vehicle;

if the first distance is smaller than the preset dangerous distance range, playing an early warning signal of a first degree;

if the first distance is larger than or equal to the preset dangerous distance range and smaller than the preset early warning distance range, acquiring a second distance between the vehicle and a rear vehicle after preset time;

And calculating the relative speed of the rear vehicle relative to the vehicle according to the first distance, the second distance and the preset time, if the relative speed is greater than or equal to 0, playing a second-degree early warning signal, and if the relative speed is less than 0, playing a third-degree early warning signal.

2. The rear vehicle distance pre-warning method according to claim 1, wherein the preset condition is:and->

Wherein V is ₀ V is the running speed of the host vehicle _G To start the lowest speed of the early warning function, V _c Is a preset hysteresis speed.

3. The rear vehicle distance pre-warning method according to claim 1, wherein the pre-warning signal of the first degree, the pre-warning signal of the second degree and the pre-warning signal of the third degree are used for prompting a user that collision risk exists behind;

the early warning signal of the first degree, the early warning signal of the second degree and the early warning signal of the third degree represent that the rear collision risk degree is reduced in sequence;

the volume and the frequency of the early warning signal of the first degree, the early warning signal of the second degree and the early warning signal of the third degree are sequentially reduced.

4. The method for early warning of a rear vehicle distance according to claim 1, wherein the calculating the relative speed of the rear vehicle with respect to the host vehicle according to the first distance, the second distance and the preset time specifically includes:

Inputting the first distance, the second distance and the preset time into a formulaWherein V is the relative speed of the rear vehicle relative to the host vehicle, L ₁ Is the first distance, L ₂ Is the second distance, and Δt is a preset time.

5. The method for pre-warning the rear vehicle distance according to claim 1, wherein if the relative speed is greater than or equal to 0, playing the pre-warning signal of the second degree, otherwise, playing the pre-warning signal of the third degree, specifically comprising:

if the relative speed is greater than 0, indicating that the direction of the relative speed V is positive, the rear vehicle is in an acceleration state relative to the vehicle, and playing an early warning signal of a second degree;

if the relative speed is equal to 0, the distance between the rear vehicle and the vehicle is kept unchanged, and a second-degree early warning signal is played;

if the relative speed is smaller than 0, the direction of the relative speed V is negative, the rear vehicle is in a deceleration state relative to the vehicle, and an early warning signal of a third degree is played.

6. The rear vehicle distance warning method according to claim 1, wherein the preset dangerous distance range is: l (L) _w ＝L _w0 ±L _wc The preset early warning distance range is as follows: l (L) _y ＝L _y0 ±L _yc ；

Wherein L is _w For a preset dangerous distance range L _w0 For default hazard distance, L _wc For dangerous hysteresis distance, L _y For presetting the early warning distance range L _y0 For default warning distance, L _yc The early warning delay distance;

the default dangerous distance, the dangerous delay distance, the default early warning distance and the early warning delay distance are all set according to a speed interval in which the running speed of the vehicle is located.

7. The rear vehicle distance warning method according to claim 1, characterized in that the rear vehicle distance warning method further comprises:

and acquiring a turn signal of the vehicle in real time, when the turn signal is acquired, indicating that the vehicle is in a lane change overtaking process, closing the early warning function, and opening the early warning function again after the preset closing time.

8. The utility model provides a rear vehicle distance early warning system which characterized in that, rear vehicle distance early warning system includes:

the first distance acquisition module is used for acquiring the running speed of the vehicle, and acquiring the first distance between the vehicle and the rear vehicle if the running speed meets the preset condition;

the dangerous signal playing module is used for playing an early warning signal of a first degree if the first distance is smaller than a preset dangerous distance range;

The second distance acquisition module is used for acquiring a second distance between the vehicle and the rear vehicle after the preset time if the first distance is larger than or equal to a preset dangerous distance range and smaller than a preset early warning distance range;

and the early warning signal playing module is used for calculating the relative speed of the rear vehicle relative to the vehicle according to the first distance, the second distance and the preset time, and playing an early warning signal of a second degree if the relative speed is greater than or equal to 0, or playing an early warning signal of a third degree if the relative speed is greater than or equal to 0.

9. A vehicle, characterized in that the vehicle comprises: a memory, a processor and a rear vehicle distance warning program stored on the memory and operable on the processor, which when executed by the processor, implements the steps of the rear vehicle distance warning method of any one of claims 1-8.

10. A computer readable storage medium, wherein the computer readable storage medium stores a rear vehicle distance pre-warning program, which when executed by a processor, implements the steps of the rear vehicle distance pre-warning method according to any one of claims 1 to 8.